Gain Optimization of a Controller with Decomposition of Thrust Force and Actuation Limit Algorithm for a Tilted Thrusting Underwater Robot

Jeongae Bak,Jongwon Kim,TaeWon Seo,Sangrok Jin

Han-gug jeongmil gong-hag hoeji/Han-guk jeongmil gonghak hoeji（2019）

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